Chapter 5

Plane Kinematics of
Rigid Bodies

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5. Plane Kinematics
Introduction
5.1 Rotation
5.2 Absolute Motion
5.3 Relative Velocity
5.4 Relative Acceleration

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5. Plane Kinematics
1.1 Introduction

Particle Rigid Body

Size Small & Not important Big & Important

Motion Translation only Translation and

Rotation
Rigid body
= a body with negligible deformation
= distance between any two points in a rigid
body is constant
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5. Plane Kinematics
1.2 Motions of a Rigid Body

1. In space = three dimensions

2. In plane = two dimensions
Translation
Rectilinear
Curvilinear

Rotation

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5. Plane Kinematics
1.3 Plane Motions of a Rigid Body
Translation

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5. Plane Kinematics
1.3 Plane Motions of a Rigid Body
Rotation

General Plane Motion = Translation + Rotation

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5. Plane Kinematics
1.3 Plane Motions of a Rigid Body

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5-1 Rotation

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5-1 Rotation

as well as is the same for every point

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5-1 Rotation

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5-1 Rotation
1. Rotation about a Fixed Axis
Any point in the body moves in
circular motion
For Point A

Note: v and a of other points are

different because of different r
( and are the same)
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5-1 Rotation
1. Rotation about a Fixed Axis
Velocity
The equations can be rewritten
in a vector form (for plane
motion)
Direction of is given using the
right-hand rule.

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5-1 Rotation
1. Rotation about a Fixed Axis
Acceleration
Direction of is given using the
right-hand rule.

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5-1 Rotation
Example 1: L-shaped bar

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5-1 Rotation
Example 2:
Starting from rest when s = 0, pulley A is given a
constant angular acceleration of 6 rad/s2. Determine
the speed of block B when it has risen 6 m.

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